Preheat oven to 375 degrees. In a large roasting pan, place chickens in a single layer. Drizzle with olive oil and salt and pepper. Roast until cooked through, about 1 hour.

Place olive oil in a pot over medium heat. Add the onion and garlic, stirring to soften for 5 minutes. Add the chipotle with adobo, and tomatoes, stirring to combine. Bring to a simmer and cook for 10 minutes. Add the peanut butter, broth, chili powder, and cinnamon. Cook 5 minutes until thoroughly combined. Add the chocolate and stir until melted. Remove from heat. With an immersion blender, puree the mixture until smooth. Season with salt and pepper. Pour the mole sauce over the chicken. Place in the oven and cook for 15 minutes.

Serve warm with chopped peanuts and fresh cilantro scattered over the top.